Income Taxes - Components of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Deferred tax assets:
Net operating loss carryforwards	$ 11,277	$ 4,275
Research and development tax credits	1,855	438
Deferred revenue	4,443
Accrued expenses	153	179
Intangibles and fixed assets	2,483	2,721
Lease liability	263	265
Stock-based compensation	969	160
Total deferred tax assets	21,443	8,038
Less valuation allowance	(21,316)	(7,827)
Net deferred tax assets	127	211
Deferred tax liabilities:
Right-of-use asset	(127)	(211)
Total deferred tax liabilities	$ (127)	$ (211)